Generate MATLAB® code of the scenario and sensors, and then programmatically modify the
scenario for application purposes. You can also import the previously saved scenario back
into the app for further simulation.

Open the Tracking Scenario Designer App

MATLAB Toolstrip: On the Apps tab, under Signal
processing and communications, click the app icon .

Examples

Set Up Platforms in Tracking Scenario Designer

To add a platform in the app, select one platform (tower, for example) form the PLATFORM tab and click the Platform Canvas to place the platform.

You can change the platform properties through the Platform Properties tab. For example, to set the platform center to the origin, set all initial position coordinates to zero in Initial Pose.

You can also change the Length, Width, and Height of the platform. By default, the Tower platform's offset in the z direction is half of the platform height, which places the tower center at its bottom. If the offset is zero, then the platform center collocates with the tower's geometric center.

The center offset is defined as the position vector from the geometric center of a platform to the specified center of the platform.

In the app, you can also specify the uncertainty of the estimated platform pose through the Pose Estimation tab. The value of each parameter in the tab represents the standard deviation of the corresponding quantity. The standard deviation setup is useful for some practical tracking considerations. For example, the accuracy of a sensor mounted on a tower is impacted if the pose of the tower includes errors. In the app, if you set the standard deviations to be nonzero values for a platform with a mounting sensor, you can observe the inaccuracy of the sensor detections introduced by these standard deviations.

You can also add other platforms in the app. Add a Plane platform on the canvas and set its initial position as [50, -50, 100]. You can see the center of the plane (red) is at its geometric center by default.

You can change the default setting of any class (and define new classes) using the Platform Gallery Editor, which you can open by clicking the drop-down arrow on the PLATFORM tab.

You cannot edit the class of a currently used platform. To delete a platform, select the platform from the drop-down list and click the delete (trash can) icon.

Set Up Trajectories of Platforms in Tracking Scenario Designer

Add a Plane platform on the platform canvas and place the plane at [0, 0, 1000] by specifying its initial position through the Initial Pose tab as:

Next, add a few waypoints to the platform. Right-click the platform and select Add Waypoints, or select the platform and click Waypoints on the TRAJECTORY toolstrip. Then consecutively click the canvas to add waypoints. To end the action, on the keyboard, click Enter. You can drag the waypoints to change the trajectory. The specified trajectory represents the trajectory of the platform center defined in the Platform Center Offset tab.

On the TRAJECTORY tab, if the Trajectory Course and the Platform Orientation parameters are set to auto, the app calculates the trajectory by fitting a smooth curve including all the waypoints and aligning the platform orientation with the trajectory. With Time set to Auto, the app calculates the trajectory duration (Time) based on the default platform speed, which can be specified through the PLATFORM Gallery Editor.

Set Up Sensors In Tracking Scenario Designer

The MAT-file TSD_Platforms was previously saved with a tracking scenario session. To launch the application and load the session file, use the command:

trackingScenarioDesigner('TSD_Platforms.mat')

The application opens and loads the scenario. The scenario contains two platforms:

A 60-meter high tower located at the origin of the local NED frame.

A target traveling at a course speed of 750 m/s around the tower.

Next, mount a sensor on the top of the tower to monitor its surroundings. There are four predefined classes of sensors available in the app.

You can also click the drop-down arrow to edit the existing classes or add new classes of sensors.

In the app, you select the tower platform, choose a rotator sensor, and place it on the top of the tower. Click the projection button to enable a y-z projection view.

The sensor is positioned at the bottom of the tower by default. To move the sensor to the top of the tower, change its Mounting Location & Angles.

Enable detection in the elevation by selecting Report Elevation. Set the sensor's Field of View for Elevation to 15 deg to allow a wide coverage region in elevation. Set the Mechanical scan limits for Elevation to [-15, -5]deg to let the sensor "stare up".

To simulate the tracking scenario and observe the detection of the target generated by the sensor, Click Run. (You can also choose Run Without Detections.)

You find that the sensor generates only one detection. You can let the sensor scan faster and generate more detections by adjusting its scan rate using two parameters:

Update Rate — Determines the number of field of view slices the sensor steps through per second.

Field of View — Determines the width of each sensor field of view slice or beam.

In the app, increase the Update Rate of the sensor to 200 Hz. With the azimuthal field of view set as 1 deg, the resulting scan rate in the azimuth is 200 deg/s, which is above the default Max scan rate (75 deg/s). Increase Max scan rate to 300 deg/s to allow a high scan rate.

Click Run to simulate the scenario again. The sensor now generates multiple sets of detections.

You can also export the script of the scenario by clicking Export. Using the exported script, you can modify the scenario programactically and use the generated scenario to test various tracking algorithms. See Design and Simulate Tracking Scenario with Tracking Scenario Designer example for more details on how to modify the generated scenario.

Related Examples

Parameters

To enable the Platform Properties parameters, add at least one
platform to the scenario. Then, select a platform from either the Platform
Canvas or the Platform Properties parameter. The
parameter values in the Platform Properties tab are based on the
platform that you select.

Parameter

Description

Current Platform

Currently selected platform, specified as a list of platforms in the
scenario.

Name

Name of platform, specified as a string.

Class

Platform class, specified as Plane,
Tower, Car, or
Boat.

You can change the default settings (such as Speed) of the four
platform classes and add new platform classes using the Platform Gallery
Editor. You can open the editor by clicking the drop-down arrow on the
PLATFORM tab and selecting Add/Edit Platform
Gallery.

Dimensions — Platform dimensionstab

Platform dimensions, specified as Length,
Width, and Height in
meters.

Parameter

Description

Length (m)

Length of platform, specified as a nonnegative scalar in
meters.

Width (m)

Width of platform, specified as a nonnegative scalar in
meters.

Height (m)

Height of platform, specified as a nonnegative scalar in
meters.

You can also specify the Platform Center Offset using
the X, Y, and Z
offsets. The offset is measured from the geometric center of the platform to the
specified center.

Parameter

Description

X (m)

Offset in the x-direction, specified as a scalar in
meters.

Y (m)

Offset in the y-direction, specified as a scalar in
meters.

Z (m)

Offset in the z-direction, specified as a scalar in
meters.

Initial Pose — Initial position and orientation of platformtab

Initial position and orientation of platform, specified by three position
coordinates X, Y, and
Altitude in meters and three rotational angles
Roll, Pitch, and
Yaw in degrees.

Parameter

Description

X (m)

Initial x coordinate of the platform center in the scenario
frame, specified as a scalar in meters.

Y (m)

Initial y coordinate of the platform center in the scenario
frame, specified as a scalar in meters.

Altitude (m)

Initial altitude of the platform center in the scenario
frame, specified as a scalar in meters.

Roll (°)

Orientation angle of the platform about the x-axis of the
scenario frame, specified as a scalar in degrees.

Pitch (°)

Orientation angle of the platform about the y-axis of the
scenario frame, specified as a scalar in degrees.

Yaw (°)

Orientation angle of the platform about the z-axis of the
scenario frame, specified as a scalar in degrees.

Pose Estimation — Accuracy of platform pose estimationtab

Accuracy of the platform pose estimation, specified as standard deviations for
three rotational angles : Roll, Pitch,
and Yaw, and two translational motion quantities :
Position and Velocity.

When the standard deviation value of any motion quantity is specified as
nonzero, the platform pose contains errors corresponding to that motion quantity.

Parameter

Description

Roll (°)

Standard deviation of the roll angle of the platform,
specified as a scalar in degrees.

Pitch (°)

Standard deviation of the pitch angle of the platform,
specified as a scalar in degrees.

Yaw (°)

Standard deviation of the yaw angle of the platform,
specified as a scalar in degrees.

Position (m)

Standard deviation of position coordinates of the platform,
specified as a scalar in degrees.

Velocity (m)

Standard deviation of velocity coordinates of the platform,
specified as a scalar in degrees.

Radar Cross Section — Radar cross section informationtab

Radar cross section information, including RCS pattern information and RCS
Viewer specifications. You can specify a constant RCS pattern as a scalar in dBsm,
or you can import RCS information through the Import
Signature window after selecting the Import RCS
tab.

Parameter

Description

Constant RCS Pattern

RCS pattern, specified as a positive constant in
dBsm.

Import RCS

Import RCS pattern through an Import
Signature window.

You can also specify the RCS Viewer by changing the
Elevation Cut in degrees and the Frequency
Cut in Hz.

To enable the Sensor Properties parameters, add at least one
sensor to the platform. Then, select a sensor from either the Sensor
Canvas or the Sensor Properties tab. The parameter
values in the Sensor Properties tab are based on the platform and
sensor that you select.

Parameter

Description

Current Platform

Current platform on which the sensor is mounted, specified as a list
of platforms in the scenario.

Current Sensor

Currently selected sensor, specified as a list of sensors in the
scenario.

Name

Name of sensor, specified as a string.

Update Rate

Sensor update rate, specified as a positive scalar in
Hz.

Type

Sensor type, specified as:

Sector Monostatic Radar

No Scanning Monostatic Radar

Rotator Monostatic Radar

Raster Monostatic Radar

Mounting Location & Angles — Sensor mounting location and anglestab

Sensor mounting location and angles on the platform, specified by three
position coordinates X, Y, and
Z in meters and three rotational angles
Roll, Pitch, and
Yaw in degrees.

Parameter

Description

X (m)

x coordinate of the sensor on the platform frame, specified
as a scalar in meters.

Y (m)

y coordinate of the sensor on the platform frame, specified
as a scalar in meters.

Z (m)

z coordinate of the sensor on the platform frame, specified
as a scalar in meters.

Roll (°)

Orientation angle of the sensor about the x-axis of the
platform frame, specified as a scalar in degrees.

Pitch (°)

Orientation angle of the sensor about the y-axis of the
platform frame, specified as a scalar in degrees.

Yaw (°)

Orientation angle of the sensor about the z-axis of the
platform frame, specified as a scalar in degrees.

Scanning & Field of view — Scanning and field of view of sensortab

Parameter

Description

Report Elevation

Enable sensor reporting elevation information, specified as
on or off.

Scan Mode

Mode of sensor scanning, selected as
Mechanical, Eletric, or
Mechanical and eletric.

Field of View (°)

Field of view of the sensor, specified as two nonnegative
scalars representing Azimuth and
Elevation in degrees.

Mechanical scan limits (°)

Upper and lower limits of mechanical scan, specified as two
scalars for Azimuth in degrees. If
Report Elevation is enabled, you can specify
the scan limits for Elevation in
degrees.

To enable this parameter, set the Scan
Mode to Mechanical or
Mechanical and eletric.

Electronic scan limits (°)

Upper and lower limits of electronic scan, specified as two
scalars for Azimuth in degrees. If
Report Elevation is enabled, you can specify
the scan limits for Elevation in degrees
.

To enable this parameter, set the Scan
Mode to Electric or
Mechanical and eletric.

Max scan rate (°/s)

Maximum scan rate, specified as a scalar for
Azimuth in degrees per second. If
Report Elevation is enabled, you can specify
the maximum scan rate for Elevation in degrees
per second.

If the specified scan rate (Update Rate * Field of
View) is larger than the Max scan
rate, the sensor scan rate is truncated at the Max scan rate.

To enable this
parameter, set the Scan Mode to
Mechanical or Mechanical and
eletric.

Detections Settings — Detections Settingstab

Probability of sensor successfully detecting a target,
specified as a scalar in [0,1]. This quantity defines the probability
of detecting a target with a radar cross-section larger than the
Reference RCS and within the
Reference Range of the sensor.

False Alarm Rate

Probability of sensor making a false detection in each sensor
resolution cell, specified as a scalar in [1e-7,1e-3].

Reference Range (m)

Reference range for the given Detection
Probability and the given Reference
RCS, specified as a positive scalar in
meters.

Reference RCS (dBsm)

Reference radar cross-section (RCS) for the given
Detection Probability and the given
Reference Range, specified as a scalar in
dBsm.

Advanced Settings — Advance settingstab

Advanced settings of the sensor are listed in this table.

Parameter

Description

Max Number of Detections

Maximum number of detections reported by the sensor,
specified as a positive integer.

Report False Alarm

Enable the sensor to model and report false alarms, specified
as on or off. When specified as
off, the sensor does not generate any false
detection.

Report Range Rate

Enable the radar to measure and report target range rates,
specified as on or off.

Model Target Occlusion

Enable occlusion of objects from extended objects, specified
as on or off. Turn off this
option to disable occlusion of extended objects.

Model Range Ambiguity

Enable range ambiguities, specified as on
or off. When specified as off,
the sensor cannot resolve range ambiguities and target ranges beyond
the Max Unambiguous Range are wrapped into the
interval [0, MaxUnambiguousRange]. When false,
targets are reported at their unambiguous range.

Model Range Rate Ambiguity

Enable range-rate ambiguities, specified as
on or off. Turn on this option
to enable range-rate ambiguities by the sensor. When true, the sensor
does not resolve range rate ambiguities and target range rates beyond
the Max Unambiguous Radial Speed are wrapped into
the interval [–MaxUnambiguousRadialSpeed,
MaxUnambiguousRadialSpeed]. When false, targets
are reported at their unambiguous range rate.

To enable
this parameter, set Report Range Rate to
on.

Max Unambiguous Range (m)

Maximum unambiguous range, specified as a positive scalar.
Maximum unambiguous range defines the maximum range for which the
radar can unambiguously resolve the range of a target.

Max Unambiguous Radial Speed (m/s)

Maximum unambiguous radial speed, specified as a positive
scalar. Radial speed is the magnitude of the target range rate.
Maximum unambiguous radial speed defines the radial speed for which
the radar can unambiguously resolve the range rate of a target.

To enable this parameter, set Report Range
Rate to on.

Accuracy & Noise — Accuracy and noise settingstab

The accuracy and noise setting of the sensor are listed in this
table.

Parameter

Description

Azimuth (°)

Azimuth resolution and bias, specified as two nonnegative scalars:

Azimuth resolution defines the minimum separation in azimuth
angle at which the radar can distinguish two targets.

Azimuth bias is expressed as a fraction of the azimuth
resolution. This value sets a lower bound on the azimuthal
accuracy of the sensor.

Elevation (°)

Elevation resolution and bias, specified as two nonnegative scalars:

Elevation resolution defines the minimum separation in
elevation angle at which the radar can distinguish two targets.

Elevation bias is expressed as a fraction of the azimuth
resolution. This value sets a lower bound on the elevation
accuracy of the sensor.

To enable this parameter, turn on Report
Elevation.

Range (m)

Range resolution and bias, specified as two nonnegative scalars:

Range resolution defines the minimum separation in range at
which the radar can distinguish between two targets.

Range bias is expressed as a fraction of the range
resolution. This value sets a lower bound on the range accuracy
of the radar.

Range Rate (m/s)

Range rate resolution and bias, specified as two nonnegative scalars:

Range rate resolution defines the minimum separation in
range rate at which the radar can distinguish between two
targets.

Range rate bias is expressed as a fraction of the range rate
resolution. This value sets a lower bound on the range rate
accuracy of the radar.

Add noise to measurements

Add measurement noise in the detections, specified as
on or off.

TRAJECTORY — Trajectory settingstab on toolstrip

To edit the trajectory and control the trajectory generation, use the trajectory
settings.

Click Waypoints to add waypoints to a selected
platform.

Click Delete Trajectory to delete an existing
trajectory.

Click Trajectory Table to display the trajectory
table.

Click Time-Altitude plot to display the time vs
altitude plot.

You can also choose to automatically generate the waypoint trajectory or manually
input waypoints by changing the selections of the PATH AND
ORIENTATION and the SPEED parameters.

Parameter

Selection

Trajectory Course

Auto: When selected, the app generates the
course by fitting all the waypoints with a smooth curve.

Table: When selected, you can manually edit
the trajectory course at each waypoint using the Trajectory
Table.

Platform Orientation

Auto: When selected, the app calculates the
yaw and pitch angles of the platform to align the platform with the
trajectory and calculates the roll angle to cancel the centripetal
acceleration.

Table: When selected, you can manually edit
the yaw, pitch, and roll angles at each waypoint using the
Trajectory Table.

Time

Auto: When selected, the app calculates the
visiting time at all the waypoints.

Table: When selected, you can manually edit
the visiting time at each waypoint using the Trajectory
Table.

Ground speed

Auto: When selected, the app uses the default
ground speed for each platform class at each waypoint.

Table: When selected, you can manually edit
the ground speed at each waypoint using the Trajectory
Table.

Climb Rate

Auto: When selected, the app calculates the
climb rate at each waypoint to smoothly fit all the waypoints.

Table: When selected, you can manually edit
the climb rate at each waypoint using the Trajectory
Table.

Trajectory Table — Trajectory informationtable

Trajectory information for each waypoint, specified as a table of scalars. When you
insert waypoints on the platform canvas, the table is automatically generated . Click
Trajectory Table under the Trajectory tab to
display the table.

After you change the parameter values in the table, the platform
trajectory changes accordingly on the canvas. The table includes these trajectory
parameters.

Parameter

Description

Times (s)

Time at which the platform visits the waypoint, specified as a
scalar in seconds.

X (m)

x coordinate of the waypoint in the scenario navigation
frame.

Y (m)

y coordinate of the waypoint in the scenario navigation
frame.

Altitude (m)

Altitude of the platform waypoint in the scenario navigation
frame.

Course (°)

The direction of motion on the x-y plane, specified as an angle
measurement from the x direction.

Ground speed (m/s)

Magnitude of the projected velocity on the x-y plane, specified as
a scalar in meters.

Climb Rate (m/s)

Climb rate of the waypoint, which is the projection of the
platform velocity in the z direction.

Roll (°)

Orientation angle of the platform about the x-axis of the scenario
frame, in degrees, specified as a scalar.

Pitch (°)

Orientation angle of the platform about the y-axis of the scenario
frame, in degrees, specified as a scalar.

Yaw (°)

Orientation angle of the platform about the z-axis of the scenario
frame, in degrees, specified as a scalar.

Programmatic Use

trackingScenarioDesigner

trackingScenarioDesigner(scenarioFileName)

The trackingScenarioDesigner(scenarioFileName) command opens the
app and loads the specified scenario MAT-file into the app. This file must be a tracking
scenario file saved from the app.

If the scenario file is not in the current folder or not in a folder on the MATLAB path, specify the full path name. For example:

drivingScenarioDesigner('C:\Desktop\myTrackingScenario.mat');

You can also load prebuilt scenario files. Before loading a prebuilt scenario, add the
folder containing the scenario to the MATLAB path.

Tips

The apps uses the NED frame as the default coordinate frame, in which a platform with
positive altitude has negative z coordinate.

You can undo (press Ctrl+Z) and redo (press Ctrl+Y)
changes you make on the scenario and sensor canvases. For example, you can use these
keyboard shortcuts to delete a recently placed road center or redo the movement of a radar
sensor.

You can use the Space bar on the keyboard to reset the Platform
Canvas to a view containing all platforms and trajectories.

You can use the Enter and Esc keys on the keyboard
to accept and cancel a waypoint, respectively.

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